A polytopic approach for the nonlinear unknown input functional observers design: Application to a quadrotor aerial robots landing
Summary (1 min read)
Summary
- This paper considers a method of designing functional observers for continuous time nonlinear systems subject to unknown inputs.
- The proposed approach consists in rewriting the nonlinear model in a polytopic form (also known as multiple or Takagi-Sugeno models) applying the Sector Nonlinearity Transformation (SNT) and then apply the proposed algorithm for the observer design.
- Sufficient conditions for the asymptotic stability of the estimation error are given in terms of linear matrix inequalities (LMIs) and rank conditions.
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References
331 citations
"A polytopic approach for the nonlin..." refers methods in this paper
...Thanks to the convexity of the weighting functions and to the linearity of the subsystems defining the vertices, some results can be established for nonlinear systems [7], [12], [17] using tools borrowed from the linear theory [18], [9]....
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285 citations
"A polytopic approach for the nonlin..." refers methods in this paper
...Thanks to the convexity of the weighting functions and to the linearity of the subsystems defining the vertices, some results can be established for nonlinear systems [7], [12], [17] using tools borrowed from the linear theory [18], [9]....
[...]
273 citations
"A polytopic approach for the nonlin..." refers background in this paper
...Observer design theory for nonlinear systems has been widely considered in the last decade and several contributions and theoretical approaches can be found in the literature (see for example [1], [11], [13], [16], [15])....
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265 citations
"A polytopic approach for the nonlin..." refers background in this paper
...) acts like an unstructured vanishing perturbation assumed to be bounded (see [ [2]], [ [6]] and references therein) and its effect can be minimized....
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226 citations
"A polytopic approach for the nonlin..." refers background in this paper
...Most of the works devoted to these observers are for linear systems where necessary and sufficient conditions for their existence were given (see [8], [26], [19], [10] and [20])....
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